CN113645399B - Method and device for determining running position of cradle head equipment - Google Patents
Method and device for determining running position of cradle head equipment Download PDFInfo
- Publication number
- CN113645399B CN113645399B CN202110731587.3A CN202110731587A CN113645399B CN 113645399 B CN113645399 B CN 113645399B CN 202110731587 A CN202110731587 A CN 202110731587A CN 113645399 B CN113645399 B CN 113645399B
- Authority
- CN
- China
- Prior art keywords
- equipment
- cradle head
- determining
- head equipment
- speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 68
- 230000033001 locomotion Effects 0.000 claims abstract description 128
- 238000004590 computer program Methods 0.000 claims description 18
- 238000012545 processing Methods 0.000 claims description 17
- 238000005070 sampling Methods 0.000 claims description 13
- 230000001133 acceleration Effects 0.000 claims description 6
- 238000004804 winding Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 abstract description 6
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 description 21
- 238000010586 diagram Methods 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 9
- 238000006243 chemical reaction Methods 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 230000009193 crawling Effects 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 238000002347 injection Methods 0.000 description 3
- 239000007924 injection Substances 0.000 description 3
- 230000010355 oscillation Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Studio Devices (AREA)
- Accessories Of Cameras (AREA)
Abstract
The embodiment of the invention provides a method and a device for determining the running position of a cradle head device, wherein the method comprises the following steps: determining a motion curve of the cradle head equipment, wherein the motion curve is used for representing corresponding operation parameters of the cradle head equipment at a preset operation speed; determining the running speed of the cradle head equipment at a preset moment based on a motion curve, and driving current of the motor equipment and the electric angle step length of the motor equipment at the running speed, wherein the motor equipment is used for driving the cradle head equipment; and determining the position of the cradle head equipment at the preset time by using the running speed, the driving current and the electric angle step length at the preset time. The invention solves the control problem of the cradle head equipment in the camera in the related technology, and achieves the effects of accurately determining the position of the cradle head and low power consumption.
Description
Technical Field
The embodiment of the invention relates to the field of image pickup, in particular to a method and a device for determining the running position of cradle head equipment.
Background
The motors commonly used for the camera holder at present are two types, namely a stepping motor and an alternating current permanent magnet synchronous motor, and the corresponding technical scheme commonly used at present is as follows:
Yun Taibu with open loop control, when the stepper driver receives a pulse signal, it drives the stepper motor to rotate a fixed angle (pitch angle) in a set direction. The angular displacement is controlled by controlling the number of pulses, so that the aim of accurate positioning is fulfilled. Because a constant current control method is adopted in the whole movement process, the given reference current cannot change according to the load and is always given to be a constant setting value, the reactive power loss of the whole speed section is larger, the power consumption of the cradle head system is large, and the driving efficiency is low. Because an open-loop stepping control mode is adopted, a feedback link is not provided, the included angle between the stator magnetic field and the rotor magnetic field cannot reach 90 degrees, the torque output of the motor cannot reach the best, and the quick response and the high-speed performance of the cradle head are poor.
Servo control of a cradle head alternating current permanent magnet synchronous motor: the sensor is used for forming closed-loop feedback of speed and position, and the actual feedback quantity is dynamically changed along with the reference input quantity through closed-loop adjustment. The bottom layer driving adopts a vector control mode, and an effective voltage vector is generated to approach a circular magnetic field track by controlling the switching mode and the conduction time of the inverter power device, so that the motor is driven to rotate. The included angle between the stator magnetic field and the rotor magnetic field in the control mode can reach 90 degrees generally, the torque output of the motor can reach the best and is dynamically balanced according to the load size, and the quick response and high-speed performance of the motor are good. However, when the control amount of the current is small near the stop, the output torque is small, and under the influence of the friction force of the system and the like, the system is repeatedly adjusted at the target position, so that the creeping phenomenon occurs, and the control method is difficult to apply to the occasions where the overshoot and the low-speed oscillation of the system are not allowed. And the torque is very small when the ball machine is stopped, and the motor can be repeatedly positioned and adjusted under the disturbance of external load, so that the ball machine is difficult to apply to occasions requiring larger holding torque (such as the vertical direction of a ball machine cradle head, the serious step-out can be caused by insufficient holding torque).
Yun Taibu open loop control disadvantage: the driving current basically keeps unchanged in the whole full-speed movement process, the system power consumption is large (heating is large), and the driving efficiency is low; the quick response and high-speed performance of the motor are poor. And the current stepping motor open-loop control can only achieve 256 subdivision at most.
The defects of the servo control of the cradle head are that: the sensors such as an encoder and the like are additionally required to be added, the cost is high, the motion performance is completely dependent on the sensors, the sensors are easily affected in severe environments, and the low-speed oscillation and crawling phenomenon can easily occur in a full-closed loop control scheme; the holding moment is too small at rest.
In view of the above technical problems, no effective solution has been proposed in the related art.
Disclosure of Invention
The embodiment of the invention provides a method and a device for determining the running position of a holder device, which are used for at least solving the control problem of the holder device in a camera in the related art.
According to an embodiment of the present invention, there is provided a method for determining an operation position of a pan-tilt device, including: determining a motion curve of the cradle head equipment, wherein the motion curve is used for representing corresponding operation parameters of the cradle head equipment at a preset operation speed; determining the running speed of the cradle head device at a preset moment based on the motion curve, and driving current of the motor device and an electric angle step length of the motor device at the running speed, wherein the motor device is used for driving the cradle head device; and determining the position of the cradle head equipment at the preset time by using the running speed at the preset time, the driving current and the electric angle step length.
According to another embodiment of the present invention, there is provided a device for determining an operation position of a pan-tilt apparatus, including: the first determining module is used for determining a motion curve of the cradle head equipment, wherein the motion curve is used for representing corresponding operation parameters of the cradle head equipment at a preset operation speed; the second determining module is used for determining the running speed of the cradle head device at a preset moment based on the motion curve, and driving current of the motor device and electric angle step length of the motor device at the running speed, wherein the motor device is used for driving the cradle head device; and the third determining module is used for determining the position of the cradle head equipment at the preset time by utilizing the running speed at the preset time, the driving current and the electric angle step length.
In an exemplary embodiment, the above apparatus further includes: the first obtaining module is configured to determine an operation speed of the pan-tilt device at a preset time based on the motion curve, and obtain a device parameter of the pan-tilt device before a driving current of the motor device and an electrical angle step of the motor device at the operation speed, where the device parameter includes at least one of: the rotation ratio of the cradle head equipment, the movement range of the cradle head equipment, the electrode pair number of the cradle head equipment, the driving current of the cradle head equipment and the electric angle of the motor equipment are all calculated; and the fourth determining module is used for determining the initial position of the cradle head equipment by using the equipment parameters of the cradle head equipment.
In an exemplary embodiment, the fourth determining module includes: a first applying unit, configured to apply N vector voltage pulses to a motor winding in the motor device in an electrical angle period of the motor device, where N is a natural number greater than 1, and running directions corresponding to each vector voltage in the N vector voltage pulses are different, and voltage amplitude values of the N vector voltage pulses are the same; a first obtaining unit, configured to obtain phase currents of the motor device by using the N vector voltage pulses, so as to obtain N phase currents; a first processing unit, configured to process the N phase currents to obtain a direct-axis current corresponding to each of the N vector voltage pulses, and obtain N direct-axis currents; the second processing unit is used for processing the N phase currents to obtain electric angles corresponding to each vector voltage pulse, and N electric angles are obtained; and the first determining unit is used for determining the initial position of the cradle head equipment by using the N straight-axis currents and the N electric angles.
In an exemplary embodiment, the first determining unit includes: a first comparing subunit, configured to compare the N straight-axis currents to obtain a maximum straight-axis current of the N straight-axis currents; a first determining subunit, configured to determine an electrical angle corresponding to the maximum direct axis current from the N electrical angles, to obtain a target electrical angle; a second determining subunit configured to determine the target electrical angle as a rotor initial position angle of the motor apparatus; the first conversion subunit is used for converting the initial position angle of the rotor to obtain the initial position of the cradle head equipment.
In an exemplary embodiment, the first determining module includes: a first receiving unit, configured to receive a motion instruction sent by an image capturing apparatus, where the motion instruction includes a motion speed and a target position of the pan-tilt apparatus; the first conversion unit is used for converting the motion instruction according to a preset acceleration and deceleration model to obtain the motion curve.
In an exemplary embodiment, the second determining module includes: the second determining unit is used for determining the total movement time of the cradle head equipment from the movement curve; the first sampling unit is used for sampling the speed points in the motion curve in the total motion time to obtain M speed points, wherein M is a natural number greater than or equal to 1; the third processing unit is used for integrating and processing the M speed points to obtain the reference position and the target position of the cradle head equipment and the update time of each of the M speed points; and the first calculation unit is used for calculating the running speed of the cradle head equipment corresponding to each speed point, the driving current of the motor equipment at the running speed and the electrical angle step length of the motor equipment.
In an exemplary embodiment, the third determining module includes: a third determining unit, configured to determine a total running step number of the pan-tilt device at the preset time by using the running speed at the preset time, the driving current, and the electrical angle step length; a fourth determining unit, configured to determine a target electrical angle of the pan-tilt device based on the running total step number; and a fifth determining unit, configured to determine an actual position of the pan-tilt device by using the target electrical angle, so as to determine a position of the pan-tilt device at the preset time.
In an exemplary embodiment, the above apparatus further includes: the generation module is used for generating a stop mark under the condition that the movement time of the cradle head equipment is greater than or equal to the preset total time of the movement curve or the condition that the error between the actual position of the cradle head equipment and the preset target position is within a preset range.
In an exemplary embodiment, the driving module is configured to drive the motor apparatus at a constant voltage after generating the stop flag.
According to a further embodiment of the invention, there is also provided a computer readable storage medium having stored therein a computer program, wherein the computer program is arranged to perform the steps of any of the method embodiments described above when run.
According to a further embodiment of the invention, there is also provided an electronic device comprising a memory having stored therein a computer program and a processor arranged to run the computer program to perform the steps of any of the method embodiments described above.
According to the method and the device, the motion curve of the cradle head equipment is determined, wherein the motion curve is used for representing the corresponding operation parameters of the cradle head equipment at the preset operation speed; determining the running speed of the cradle head equipment at a preset moment based on a motion curve, and driving current of the motor equipment and the electric angle step length of the motor equipment at the running speed, wherein the motor equipment is used for driving the cradle head equipment; and determining the position of the cradle head equipment at the preset time by using the running speed, the driving current and the electric angle step length at the preset time. The method realizes the dynamic adjustment of the AC-DC shaft current and the electric angle step length corresponding to the motor equipment at each speed, and can obtain the position value of the cradle head equipment at any moment. Therefore, the control problem of the cradle head equipment in the camera in the related technology can be solved, and the effects of accurately determining the position of the cradle head and low power consumption are achieved.
Drawings
Fig. 1 is a hardware block diagram of a mobile terminal according to a method for determining an operation position of a cradle head device according to an embodiment of the present invention;
FIG. 2 is a flowchart of a method for determining an operation position of a cradle head device according to an embodiment of the present invention;
FIG. 3 is a control block diagram of no sensing position detection at start-up according to an embodiment of the present invention;
FIG. 4 is a control block diagram of a motion-time position-free sensing head according to an embodiment of the invention;
FIG. 5 is a control block diagram of a no position sensing pan/tilt head at rest according to an embodiment of the invention;
FIG. 6 is a flow chart of a camera pan/tilt head sensorless control implementation in accordance with an embodiment of the invention;
FIG. 7 is a schematic diagram of a motion profile planned in an S-curve model in accordance with an embodiment of the present invention;
FIG. 8 is a graph of current total step number versus voltage in a stationary coordinate system at 10000 meters according to an embodiment of the present invention;
fig. 9 is a block diagram of a configuration of a device for determining an operation position of a pan-tilt apparatus according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings in conjunction with the embodiments.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.
The method embodiments provided in the embodiments of the present application may be performed in a mobile terminal, a computer terminal or similar computing device. Taking the operation on a mobile terminal as an example, fig. 1 is a block diagram of a hardware structure of a mobile terminal according to a method for determining an operation position of a pan-tilt device according to an embodiment of the present invention. As shown in fig. 1, a mobile terminal may include one or more (only one is shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a microprocessor MCU or a processing device such as a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 for communication functions and an input-output device 108. It will be appreciated by those skilled in the art that the structure shown in fig. 1 is merely illustrative and not limiting of the structure of the mobile terminal described above. For example, the mobile terminal may also include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 1.
The memory 104 may be used to store a computer program, for example, a software program of application software and a module, such as a computer program corresponding to a method for determining an operation position of a cradle head device in an embodiment of the present invention, and the processor 102 executes the computer program stored in the memory 104, thereby performing various functional applications and data processing, that is, implementing the method described above. Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory remotely located relative to the processor 102, which may be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission means 106 is arranged to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, simply referred to as NIC) that can connect to other network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used to communicate with the internet wirelessly.
In this embodiment, a method for determining an operation position of a pan-tilt device is provided, and fig. 2 is a flowchart of a method for determining an operation position of a pan-tilt device according to an embodiment of the present invention, as shown in fig. 2, where the flowchart includes the following steps:
step S202, determining a motion curve of the cradle head equipment, wherein the motion curve is used for representing corresponding operation parameters of the cradle head equipment at a preset operation speed;
step S204, determining the running speed of the cradle head equipment at a preset moment, the driving current of the motor equipment at the running speed and the electrical angle step length of the motor equipment based on the motion curve, wherein the motor equipment is used for driving the cradle head equipment;
Step S206, determining the position of the cradle head device at the preset time by using the running speed, the driving current and the electric angle step length at the preset time.
The main execution body of the above steps may be a terminal, but is not limited thereto.
The present embodiment includes, but is not limited to, a scene applied to determining an operation position of a cradle head device in an image pickup device. For example, under the condition of no position sensor, the initial reference position of the motor/cradle head is firstly obtained by vector voltage injection before starting, each speed is planned in advance through a curve after a motion command is received, and the actual position value of the cradle head at any moment is finally obtained by dynamically adjusting the alternating-direct axis current and the electric angle step corresponding to the motor at each speed, so that the position accuracy, the motion stability and the lower power consumption of the cradle head under the condition of no position sensor are ensured. And the control link of the cradle head motor is dynamically switched and reconfigured in the whole movement process, namely constant current control in the movement process is applied to constant voltage control in the stopping process by voltage vector pulse before starting, so that the movement effect of the cradle head in the whole process is ensured.
Through the steps, the motion curve of the cradle head equipment is determined, wherein the motion curve is used for representing the corresponding operation parameters of the cradle head equipment at the preset operation speed; determining the running speed of the cradle head equipment at a preset moment based on a motion curve, and driving current of the motor equipment and the electric angle step length of the motor equipment at the running speed, wherein the motor equipment is used for driving the cradle head equipment; and determining the position of the cradle head equipment at the preset time by using the running speed, the driving current and the electric angle step length at the preset time. The method realizes the dynamic adjustment of the AC-DC shaft current and the electric angle step length corresponding to the motor equipment at each speed, and can obtain the position value of the cradle head equipment at any moment. Therefore, the control problem of the cradle head equipment in the camera in the related technology can be solved, and the effects of accurately determining the position of the cradle head and low power consumption are achieved.
In an exemplary embodiment, the method further comprises, before determining the operation speed of the pan-tilt device at the preset time based on the motion profile, and the driving current of the motor device at the operation speed, the electrical angle step of the motor device:
s1, acquiring equipment parameters of a cradle head device, wherein the equipment parameters comprise at least one of the following: the rotation ratio of the cradle head equipment, the movement range of the cradle head equipment, the electrode pair number of the cradle head equipment, the driving current for driving the cradle head equipment and the electrical angle of the motor equipment;
s2, determining the initial position of the cradle head equipment by using equipment parameters of the cradle head equipment.
In this embodiment, before determining the position of the pan-tilt device, the position of the pan-tilt device is initialized, and parameters of the pan-tilt device are obtained. For example, parameters such as a transmission ratio of the cradle head device, a motion travel range of the cradle head device, a pole pair number of a motor of the cradle head device, and a minimum driving current capable of driving the cradle head to rotate.
In one exemplary embodiment, determining an initial position of a head device using device parameters of the head device includes:
s1, applying N vector voltage pulses to a motor winding in motor equipment in an electrical angle period of the motor equipment, wherein N is a natural number larger than 1, the running directions corresponding to each vector voltage in the N vector voltage pulses are different, and the voltage amplitude values of the N vector voltage pulses are the same;
S2, acquiring phase currents of motor equipment by using N vector voltage pulses to obtain N phase currents;
s3, processing the N phase currents to obtain direct-axis currents corresponding to each vector voltage pulse in the N vector voltage pulses, and obtaining N direct-axis currents;
s4, processing N phase currents to obtain electric angles corresponding to each vector voltage pulse, and obtaining N electric angles;
s5, determining the initial position of the cradle head equipment by utilizing the N straight-axis currents and the N electrical angles.
In this embodiment, for example, N vector voltage pulses with different directions and identical voltage amplitudes are applied to a motor winding in a 360 ° electrical angle period of a motor device in a cradle head device, the vector voltage pulses are processed by space vector pulse width modulation (Space Vector Width Modulation, abbreviated as SVPWM) to acquire phase currents of the motor, and after coordinate change, an electrical angle corresponding to a straight-axis current id and a pulse direction corresponding to each applied pulse is obtained.
In one exemplary embodiment, determining an initial position of the pan-tilt device using the N straight axis currents and the N electrical angles includes:
s1, comparing N straight-axis currents to obtain the maximum straight-axis current in the N straight-axis currents;
s2, determining an electric angle corresponding to the maximum straight axis current in the N electric angles to obtain a target electric angle;
S3, determining a target electrical angle as a rotor initial position angle of the motor equipment;
s4, converting the initial position angle of the rotor to obtain the initial position of the cradle head equipment.
In this embodiment, for example, the corresponding straight-axis current under each pulse is sequentially detected and compared, and the electrical angle corresponding to the maximum straight-axis current id is found out, where the electrical angle is the estimated initial position angle of the motor rotor, and the initial position before starting the motion is obtained after the position is converted and is used as the subsequent position reference.
In one exemplary embodiment, determining a motion profile of a pan-tilt device includes:
s1, receiving a motion instruction sent by camera equipment, wherein the motion instruction comprises the motion speed and the target position of the cradle head equipment;
s2, converting the motion instruction according to a preset acceleration and deceleration model to obtain a motion curve.
In this embodiment, parameters such as current and electrical angle step length, running time and the like corresponding to each speed can be dynamically calculated by using a motion curve, and current closed-loop control is performed.
In an exemplary embodiment, determining an operation speed of the pan-tilt device at a preset time based on the motion profile, and a driving current of the motor device, an electrical angle step of the motor device at the operation speed, includes:
S1, determining the total movement time of the cradle head equipment from a movement curve;
s2, sampling speed points in a motion curve in the total motion time to obtain M speed points, wherein M is a natural number greater than or equal to 1;
s3, integrating the M speed points to obtain the reference position, the target position and the update time of each of the M speed points of the cradle head equipment;
s4, calculating the running speed of the cradle head equipment corresponding to each speed point, and driving current of the motor equipment and the electrical angle step length of the motor equipment under the running speed.
In this embodiment, for example, the total time of the whole motion process is calculated, the curves are discretized according to the sampling period to obtain a plurality of discrete speed points, and the discrete speed points are integrated to obtain the reference position and the target position of the pan-tilt device and the update time of each speed point. Each speed point generated in this embodiment also needs to generate the following control parameters in one-to-one correspondence with the current speed: input quantities Id, iq, leaping respectively used as a current PID controller and a coordinate transformation module; and switching time moveomes between two adjacent speed points.
In an exemplary embodiment, determining a position of the pan-tilt device at a preset time using an operation speed, a driving current, and an electrical angle step size at the preset time includes:
S1, determining the total running step number of the cradle head equipment at the preset time by using the running speed, the driving current and the electric angle step length at the preset time;
s2, determining a target electrical angle of the cradle head equipment based on the running total steps;
s3, determining the actual position of the cradle head equipment by utilizing the target electrical angle so as to determine the position of the cradle head equipment at a preset time.
In this embodiment, the target electrical angle is calculated from the position of the running total in the sine subdivision table period.
In one exemplary embodiment, the method further comprises:
s1, generating a stop mark under the condition that the movement time of the cradle head equipment is larger than or equal to the preset total time of a movement curve or the condition that the error between the actual position of the cradle head equipment and the preset target position is within a preset range.
In this embodiment, when the motion time reaches the total time of curve planning or the error between the motion time and the preset target position is within the positive threshold range, a stop control mark is generated, so as to prepare for the subsequent stop operation, and avoid phenomena such as overshoot or low-speed crawling at the target position during closed-loop servo control.
In one exemplary embodiment, after generating the stop flag, the method further comprises:
S1, driving the motor device at constant voltage.
In this embodiment, when the stop flag is received, the constant-voltage driving mode is switched and reconfigured by the speed planning and current closed-loop control mode in the motion process.
The invention is illustrated below with reference to specific examples:
the purpose of the embodiment is to provide a sensorless position control method for a camera pan-tilt, so that the cost and control performance of the whole camera can be considered, and three main problems in the existing camera pan-tilt control are solved: the traditional open loop driving of the cradle head has the problems of low efficiency, high power consumption and limited maximum subdivision; the problem that the operation effect is poor due to easy overshoot and low-speed crawling at the target position when the cradle head is in sensing closed-loop control; and the problem that the large-load equipment is easy to turn around due to too small torque when the positioning is static.
The embodiment is applicable to an alternating-current permanent magnet synchronous motor and a stepping motor which are carried on a camera cradle head.
In the present embodiment, under the condition of no position sensor, the initial reference position of the motor/cradle head is obtained by vector voltage injection before starting (as shown in fig. 3). After a motion command is received, each speed is planned in advance through a curve, and the corresponding alternating-direct axis current and the electric angle step length of the motor at each speed are dynamically adjusted to finally obtain the actual position value (shown in figure 4) of the cradle head at any moment, so that the accuracy of the cradle head position under the condition of no position sensor is ensured, and the cradle head is stable in motion and low in power consumption. And the control link of the cradle head motor is dynamically switched and reconfigured in the whole movement process, namely constant current control in the movement process is applied to constant voltage control in the stopping process by voltage vector pulse before starting (as shown in figure 5), so that the movement effect of the cradle head in the whole process is ensured.
As shown in fig. 6, the implementation flow of the present embodiment includes the following steps:
s601: initializing, namely acquiring parameters of a cradle head, such as a transmission ratio of the cradle head, a movement travel range of the cradle head, pole pair numbers of a motor, a minimum driving current capable of driving the cradle head to rotate and the like;
s602: waiting to receive a motion command, finishing the detection of the initial position of the cradle head before the first starting, acquiring the initial position by adopting vector pulse injection, and determining the position reference of the cradle head, wherein the control link comprises the following steps:
applying N vector voltage pulses with different directions and same voltage amplitude to a motor winding within a 360-degree electric angle period of a holder motor, acquiring phase current of the motor after SVPWM processing by the vector voltage pulses, obtaining an electric angle corresponding to a straight-axis current id and a pulse direction corresponding to each applied pulse after coordinate change, sequentially detecting the corresponding straight-axis current under each pulse, comparing the magnitudes of the straight-axis current, finding out the electric angle corresponding to the maximum straight-axis current id, wherein the angle is used as an estimated initial position angle of a motor rotor, and obtaining an initial position before starting the movement after conversion, and is recorded as N Rest initiation As a subsequent positional reference.
S603: when the cradle head receives a movement command of the camera, a movement curve is planned in real time, parameters such as current and electrical angle step length corresponding to each speed, running time and the like are calculated dynamically, current closed-loop control is carried out, and a control link of S602 is switched and reconstructed to be shown in fig. 4 through a change-over switch:
The control link block diagram according to fig. 3 can obtain the full-speed segment (low-medium-high-speed) motion control process after starting as follows:
(1) A movement command (V) issued by the camera to the pan/tilt head Tripod head max And P Target object ) Firstly, a complete speed reference curve is planned according to a traditional acceleration and deceleration model, and the total time t of the whole movement process is calculated Total (S) According to the sampling period T Sampling Dispersing the curve to obtain a plurality of discrete speed points, and integrating the discrete speed points to obtain a reference position and a target position P Target object ToAnd the update time ti of each speed point, as shown in fig. 7, is a schematic curve planned according to the S-curve model.
(2) And dynamically calculating the corresponding current and electrical angle step length at each speed. Each speed point generated in this embodiment also needs to generate the following control parameters in one-to-one correspondence with the current speed: input quantities Id, iq, leaping respectively used as a current PID controller and a coordinate transformation module; and the switching time moveones between two adjacent speed points, as shown by point a in fig. 7.
According to the electric angle step length leaping and reference current obtained by dynamic programming of the current speed value of the motor, the calculation mode is as follows:
Leaping＝V cradle head *N Subdivision *P Pole pair /(360*f Interrupt )；
idref＝0；
iqref＝V Cradle head *IQ max /V Tripod head max ，V Cradle head ∈[0,Vmax]；
Wherein f Interrupt To generate an interrupt period for PWM, the value is typically constant, such as 20KHz, after system initialization is complete; if the computed Leaping is less than 1, it is forced to 1.
IQ max In order to achieve the maximum q-axis current required by the regulated speed of the camera cradle head, the value can be obtained by testing after the performance parameters of the equipment are determined; when the Iq value calculated in real time is smaller than IQ min When forcing IQ min (minimum current value that can overcome moment starting motion such as equipment friction).
The switching time moveomes between two adjacent speed points is:
Movetimes＝T sampling *f Interrupt /1000；
T Sampling Sampling period in milliseconds when planning for the speed profile.
(3) Calculating the position of the cradle head in real time and updating the driving voltage in the moving process; calculating the total number of accumulated steps taken at any moment as the speed and step length change during movement
Calculating a final electrical angle theta according to the position of the current total step number in the sine subdivision table period, and completing sine and cosine calculation in coordinate transformation (as shown in fig. 8, the subdivision number is 10000 in the diagram); if the current motion is to the X position in FIG. 8, the current total number of steps previously calculated for that position is N Number of steps θ= (N) Number of steps ％N Subdivision ) 360, the actual position of the pan-tilt corresponding to the x position point is P Cradle head ＝(N Number of steps /N Subdivision )*360/P Pole pair /N Ratio of transmission The method comprises the steps of carrying out a first treatment on the surface of the After knowing the current positions of the cradle head and the motor, correspondingly calculating the driving voltage U under the corresponding static coordinate system under the current position according to the following formula α ，U β ：
(4) And (3) inputting the planned parameters into each module of the control link in fig. 4, and controlling the acceleration, uniform speed and deceleration processes of the movement of the camera cradle head. When the motion time reaches the total time t of curve planning, the motion time is switched to the next speed point when the motion time is 0 Total (S) Or with a preset target position P Target object When the error is within the positive threshold range, a stop control mark is generated, preparation is made for subsequent stop operation, and phenomena such as overshoot or low-speed crawling and the like are avoided easily occurring at the target position during closed-loop servo control.
S604: when a stop sign is received, the speed planning and current closed-loop control mode in the movement process is switched and reconstructed to the following constant-voltage driving mode so as to ensure that a large moment is generated when the camera is at a stop position, so that the camera is not easy to turn around or manually break off, and a control link after switching is as follows:
Unlike the movement process, the values Ud and Uq in fig. 5 are given constant values when they are stopped, and the specific values are obtained according to the moment generated by the gravity moment and the eccentric load of each equipment; given a givenIs determined by the electric angle value of the target position P to be positioned Target object The determination is completely different from the electrical angle determination method in S603, and is calculated as:
θ＝(P target object *P Pole pair /N Ratio of transmission ％N Subdivision )*N Subdivision /360
S605: waiting for receiving the next movement instruction, and repeating the steps to finish.
In summary, compared with the existing stepping open-loop control, the present embodiment has no sensing, but has higher energy utilization rate (SVPWM and dynamic adjustment current strategy are used and current closed loop is formed) than stepping open-loop control, and can achieve larger subdivision (such as 10000 subdivision commonly used at present), so that the motion is smoother and smoother; the problems of low-speed oscillation, creeping phenomenon, small holding moment during stopping and the like possibly occurring in a servo three-closed-loop system with a position sensor are avoided. The cost is lower than that of the scheme with a sensing servo closed loop. The same strategy is adopted in the low-speed and high-speed movement process, strategy switching is not needed in the middle, the calculated amount is smaller, and the method is convenient to realize on an MCU chip with lower performance.
From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
In this embodiment, a device for determining an operation position of a pan-tilt device is further provided, and the device is used to implement the foregoing embodiments and preferred embodiments, which have been described and will not be repeated. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.
Fig. 9 is a block diagram of a device for determining an operation position of a pan-tilt device according to an embodiment of the present invention, as shown in fig. 9, the device includes:
the first determining module 92 is configured to determine a motion curve of the pan-tilt device, where the motion curve is used to represent an operation parameter corresponding to the pan-tilt device at a preset operation speed;
a second determining module 94, configured to determine an operation speed of the pan-tilt device at a preset time based on the motion curve, and a driving current of a motor device and an electrical angle step of the motor device at the operation speed, where the motor device is used to drive the pan-tilt device;
and a third determining module 96, configured to determine a position of the pan-tilt device at the preset time by using the running speed, the driving current and the electrical angle step at the preset time.
In an exemplary embodiment, the above apparatus further includes:
the first obtaining module is configured to determine an operation speed of the pan-tilt device at a preset time based on the motion curve, and obtain a device parameter of the pan-tilt device before a driving current of the motor device and an electrical angle step of the motor device at the operation speed, where the device parameter includes at least one of: the rotation ratio of the cradle head equipment, the movement range of the cradle head equipment, the electrode pair number of the cradle head equipment, the driving current of the cradle head equipment and the electric angle of the motor equipment are all calculated;
And the fourth determining module is used for determining the initial position of the cradle head equipment by using the equipment parameters of the cradle head equipment.
In an exemplary embodiment, the fourth determining module includes:
a first applying unit, configured to apply N vector voltage pulses to a motor winding in the motor device in an electrical angle period of the motor device, where N is a natural number greater than 1, and running directions corresponding to each vector voltage in the N vector voltage pulses are different, and voltage amplitude values of the N vector voltage pulses are the same;
a first obtaining unit, configured to obtain phase currents of the motor device by using the N vector voltage pulses, so as to obtain N phase currents;
a first processing unit, configured to process the N phase currents to obtain a direct-axis current corresponding to each of the N vector voltage pulses, and obtain N direct-axis currents;
the second processing unit is used for processing the N phase currents to obtain electric angles corresponding to each vector voltage pulse, and N electric angles are obtained;
and the first determining unit is used for determining the initial position of the cradle head equipment by using the N straight-axis currents and the N electric angles.
In an exemplary embodiment, the first determining unit includes:
a first comparing subunit, configured to compare the N straight-axis currents to obtain a maximum straight-axis current of the N straight-axis currents;
a first determining subunit, configured to determine an electrical angle corresponding to the maximum direct axis current from the N electrical angles, to obtain a target electrical angle;
a second determining subunit configured to determine the target electrical angle as a rotor initial position angle of the motor apparatus;
the first conversion subunit is used for converting the initial position angle of the rotor to obtain the initial position of the cradle head equipment.
In an exemplary embodiment, the first determining module includes:
a first receiving unit, configured to receive a motion instruction sent by an image capturing apparatus, where the motion instruction includes a motion speed and a target position of the pan-tilt apparatus;
the first conversion unit is used for converting the motion instruction according to a preset acceleration and deceleration model to obtain the motion curve.
In an exemplary embodiment, the second determining module includes:
the second determining unit is used for determining the total movement time of the cradle head equipment from the movement curve;
The first sampling unit is used for sampling the speed points in the motion curve in the total motion time to obtain M speed points, wherein M is a natural number greater than or equal to 1;
the third processing unit is used for integrating and processing the M speed points to obtain the reference position and the target position of the cradle head equipment and the update time of each of the M speed points;
and the first calculation unit is used for calculating the running speed of the cradle head equipment corresponding to each speed point, the driving current of the motor equipment at the running speed and the electrical angle step length of the motor equipment.
In an exemplary embodiment, the third determining module includes:
a third determining unit, configured to determine a total running step number of the pan-tilt device at the preset time by using the running speed at the preset time, the driving current, and the electrical angle step length;
a fourth determining unit, configured to determine a target electrical angle of the pan-tilt device based on the running total step number;
and a fifth determining unit, configured to determine an actual position of the pan-tilt device by using the target electrical angle, so as to determine a position of the pan-tilt device at the preset time.
In an exemplary embodiment, the above apparatus further includes:
the generation module is used for generating a stop mark under the condition that the movement time of the cradle head equipment is greater than or equal to the preset total time of the movement curve or the condition that the error between the actual position of the cradle head equipment and the preset target position is within a preset range.
In an exemplary embodiment, the driving module is configured to drive the motor apparatus at a constant voltage after generating the stop flag.
It should be noted that each of the above modules may be implemented by software or hardware, and for the latter, it may be implemented by, but not limited to: the modules are all located in the same processor; alternatively, the above modules may be located in different processors in any combination.
Embodiments of the present invention also provide a computer readable storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the method embodiments described above when run.
In the present embodiment, the above-described computer-readable storage medium may be configured to store a computer program for executing the above steps.
In one exemplary embodiment, the computer readable storage medium may include, but is not limited to: a usb disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing a computer program.
An embodiment of the invention also provides an electronic device comprising a memory having stored therein a computer program and a processor arranged to run the computer program to perform the steps of any of the method embodiments described above.
In an exemplary embodiment, the electronic apparatus may further include a transmission device connected to the processor, and an input/output device connected to the processor.
In an exemplary embodiment, the above processor may be arranged to perform the above steps by means of a computer program.
Specific examples in this embodiment may refer to the examples described in the foregoing embodiments and the exemplary implementation, and this embodiment is not described herein.
It will be appreciated by those skilled in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, they may be implemented in program code executable by computing devices, so that they may be stored in a storage device for execution by computing devices, and in some cases, the steps shown or described may be performed in a different order than that shown or described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The method for determining the running position of the cradle head equipment is characterized by comprising the following steps of:
determining a motion curve of the tripod head equipment, wherein the motion curve is used for representing operation parameters corresponding to the tripod head equipment at a preset operation speed, and the operation parameters comprise driving current of the tripod head equipment and an electric angle step length of the tripod head equipment;
determining an operation speed of the tripod head equipment at a preset time based on the motion curve, a driving current of a motor equipment at the operation speed and an electrical angle step length of the motor equipment, wherein the motor equipment is used for driving the tripod head equipment, determining the operation speed of the tripod head equipment at the preset time based on the motion curve, the driving current of the motor equipment at the operation speed and the electrical angle step length of the motor equipment, and the method comprises the following steps: determining the total movement time of the cradle head equipment from the movement curve; sampling speed points in the motion curve in the total motion time to obtain M speed points, wherein M is a natural number greater than or equal to 1; integrating the M speed points to obtain a reference position, a target position and update time of each of the M speed points of the cradle head equipment; calculating the running speed of the cradle head equipment corresponding to each speed point, and driving current of motor equipment and electric angle step length of the motor equipment under the running speed;
Determining the position of the cradle head equipment at the preset time by utilizing the running speed at the preset time, the driving current and the electric angle step length;
determining the position of the cradle head device at the preset time by using the running speed at the preset time, the driving current and the electrical angle step length, wherein the method comprises the following steps:
determining the total running step number of the cradle head equipment at the preset time by utilizing the running speed at the preset time, the driving current and the electric angle step length; calculating a target electrical angle based on the position of the running total step number in the sine subdivision table period; and determining the actual position of the cradle head equipment by utilizing the target electrical angle so as to determine the position of the cradle head equipment at the preset moment.
2. The method of claim 1, wherein determining an operating speed of the pan-tilt device at a preset time based on the motion profile, and wherein prior to a drive current of the motor device at the operating speed, an electrical angle step of the motor device, the method further comprises:
acquiring equipment parameters of the cradle head equipment, wherein the equipment parameters comprise at least one of the following: the rotation ratio of the cradle head equipment, the movement range of the cradle head equipment, the electrode pair number of the cradle head equipment, the driving current of the cradle head equipment and the electric angle of the motor equipment are all the same;
And determining the initial position of the cradle head equipment by using the equipment parameters of the cradle head equipment.
3. The method of claim 2, wherein determining the initial position of the head device using the device parameters of the head device comprises:
applying N vector voltage pulses to a motor winding in the motor device in an electrical angle period of the motor device, wherein N is a natural number larger than 1, the running directions corresponding to each vector voltage in the N vector voltage pulses are different, and the voltage amplitude values of the N vector voltage pulses are the same;
acquiring phase currents of the motor equipment by using the N vector voltage pulses to obtain N phase currents;
processing the N phase currents to obtain direct-axis currents corresponding to each vector voltage pulse in the N vector voltage pulses, and obtaining N direct-axis currents;
processing the N phase currents to obtain electric angles corresponding to each vector voltage pulse, and obtaining N electric angles;
and determining the initial position of the cradle head equipment by utilizing the N straight-axis currents and the N electrical angles.
4. A method according to claim 3, wherein determining the initial position of the pan-tilt device using the N straight axis currents and the N electrical angles comprises:
Comparing the N straight-axis currents to obtain the maximum straight-axis current in the N straight-axis currents;
determining an electrical angle corresponding to the maximum straight axis current from the N electrical angles to obtain a target electrical angle;
determining the target electrical angle as a rotor initial position angle of the motor apparatus;
and converting the initial position angle of the rotor to obtain the initial position of the cradle head equipment.
5. The method of claim 1, wherein determining the motion profile of the pan-tilt device comprises:
receiving a motion instruction sent by camera equipment, wherein the motion instruction comprises the motion speed and the target position of the cradle head equipment;
and converting the motion instruction according to a preset acceleration and deceleration model to obtain the motion curve.
6. The method according to claim 1, wherein the method further comprises:
and generating a stop mark under the condition that the movement time of the tripod head equipment is larger than or equal to the preset total time of the movement curve or the condition that the error between the actual position of the tripod head equipment and the preset target position is within a preset range.
7. The method of claim 6, wherein after generating the stop flag, the method further comprises:
The motor apparatus is driven at constant voltage.
8. A device for determining an operation position of a pan-tilt device, comprising:
the first determining module is used for determining a motion curve of the cradle head equipment, wherein the motion curve is used for representing operation parameters corresponding to the cradle head equipment at a preset operation speed, and the operation parameters comprise driving current of the cradle head equipment and an electric angle step length of the cradle head equipment;
the second determining module is used for determining the running speed of the tripod head equipment at a preset moment based on the motion curve, driving current of the motor equipment at the running speed and electric angle step length of the motor equipment, wherein the motor equipment is used for driving the tripod head equipment, and the second determining module is also used for determining the total motion time of the tripod head equipment from the motion curve; sampling speed points in the motion curve in the total motion time to obtain M speed points, wherein M is a natural number greater than or equal to 1; integrating the M speed points to obtain a reference position, a target position and update time of each of the M speed points of the cradle head equipment; calculating the running speed of the cradle head equipment corresponding to each speed point, and driving current of motor equipment and electric angle step length of the motor equipment under the running speed;
The third determining module is used for determining the position of the cradle head equipment at the preset moment by utilizing the running speed at the preset moment, the driving current and the electric angle step length;
the third determining module is further configured to: determining the total running step number of the cradle head equipment at the preset time by utilizing the running speed at the preset time, the driving current and the electric angle step length; calculating a target electrical angle based on the position of the running total step number in the sine subdivision table period; and determining the actual position of the cradle head equipment by utilizing the target electrical angle so as to determine the position of the cradle head equipment at the preset moment.
9. A computer readable storage medium, characterized in that a computer program is stored in the computer readable storage medium, wherein the computer program, when executed by a processor, implements the method of any of claims 1 to 7.
10. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to run the computer program to perform the method of any of the claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110731587.3A CN113645399B (en) | 2021-06-29 | 2021-06-29 | Method and device for determining running position of cradle head equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110731587.3A CN113645399B (en) | 2021-06-29 | 2021-06-29 | Method and device for determining running position of cradle head equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113645399A CN113645399A (en) | 2021-11-12 |
| CN113645399B true CN113645399B (en) | 2023-05-12 |
Family
ID=78416390
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110731587.3A Active CN113645399B (en) | 2021-06-29 | 2021-06-29 | Method and device for determining running position of cradle head equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113645399B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114326842B (en) * | 2021-11-25 | 2024-03-01 | 广州极飞科技股份有限公司 | Control method and device of driving device and control method of unmanned equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2017005894A (en) * | 2015-06-11 | 2017-01-05 | 株式会社日立国際電気 | Stepping motor control device |
| CN109032191A (en) * | 2015-07-03 | 2018-12-18 | 深圳市大疆灵眸科技有限公司 | Cloud platform control method and holder |
| CN110413011A (en) * | 2019-07-15 | 2019-11-05 | 浙江大华技术股份有限公司 | A kind of binocular cloud platform control method, device and storage medium |
| CN112866569A (en) * | 2021-01-06 | 2021-05-28 | 浙江大华技术股份有限公司 | Method and device for determining motion parameters of camera pan-tilt and storage medium |
| CN113014802A (en) * | 2021-02-02 | 2021-06-22 | 浙江大华技术股份有限公司 | Control method and device of pan-tilt camera and computer equipment |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4475164B2 (en) * | 2005-04-26 | 2010-06-09 | 日本ビクター株式会社 | Monitoring system and monitoring method |
| JP2016033571A (en) * | 2014-07-31 | 2016-03-10 | キヤノン株式会社 | Camera universal head device |
| CN105955328B (en) * | 2016-05-27 | 2018-09-18 | 北京奇虎科技有限公司 | The method for control speed and device of cradle head camera |
| CN108847802A (en) * | 2018-07-20 | 2018-11-20 | 上海肖可雷电子科技有限公司 | A kind of rotor position estimation method of the noninductive starting of orientation |
| CN111381606B (en) * | 2018-12-27 | 2023-07-07 | 杭州海康威视系统技术有限公司 | Cloud deck control method and device, electronic equipment and storage medium |
| CN110139040B (en) * | 2019-06-17 | 2020-11-13 | 广东安居宝数码科技股份有限公司 | Pan-tilt camera positioning method and device, pan-tilt camera, equipment and medium |
| CN110809118A (en) * | 2019-11-12 | 2020-02-18 | 成都新舟锐视科技有限公司 | Rapid focusing method for gun and ball linkage |
| WO2021146908A1 (en) * | 2020-01-21 | 2021-07-29 | 深圳市大疆创新科技有限公司 | Gimbal and control method therefor |
| CN112399086B (en) * | 2020-12-08 | 2022-04-29 | 浙江大华技术股份有限公司 | Motion control method and device, storage medium and electronic device |
-
2021
- 2021-06-29 CN CN202110731587.3A patent/CN113645399B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2017005894A (en) * | 2015-06-11 | 2017-01-05 | 株式会社日立国際電気 | Stepping motor control device |
| CN109032191A (en) * | 2015-07-03 | 2018-12-18 | 深圳市大疆灵眸科技有限公司 | Cloud platform control method and holder |
| CN110413011A (en) * | 2019-07-15 | 2019-11-05 | 浙江大华技术股份有限公司 | A kind of binocular cloud platform control method, device and storage medium |
| CN112866569A (en) * | 2021-01-06 | 2021-05-28 | 浙江大华技术股份有限公司 | Method and device for determining motion parameters of camera pan-tilt and storage medium |
| CN113014802A (en) * | 2021-02-02 | 2021-06-22 | 浙江大华技术股份有限公司 | Control method and device of pan-tilt camera and computer equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113645399A (en) | 2021-11-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100550594C (en) | Use the motor speed estimation system and method for hybrid model reference adaptive system | |
| CN103746619B (en) | Synchronous motor start control method and system | |
| CN103560724B (en) | Method for determining initial position of synchronous motor | |
| CN113645399B (en) | Method and device for determining running position of cradle head equipment | |
| CN109391191B (en) | Motor control system and method | |
| CN109951129A (en) | Motor control method, device and the electronic equipment of position-sensor-free | |
| CN103647493B (en) | A kind of infinite method for estimating rotating speed of H of permagnetic synchronous motor | |
| CN102769420A (en) | Method and device for controlling motor start-up | |
| CN108390603B (en) | Motor control method and device and unmanned aerial vehicle control system | |
| CN103375392A (en) | Compressor control method and device and air conditioner | |
| CN109391189B (en) | Stepping motor rotation angle compensation method and device | |
| CN209342878U (en) | A kind of permanent magnet synchronous motor MTPA parameter automatic calibration system | |
| CN101951209B (en) | High-accuracy positive and negative rotation control system and control method for direct current motor | |
| US10594243B2 (en) | Method of controlling synchronous electric motor with permanent magnets | |
| KR20140122690A (en) | Rotary drive system, method for controlling an inverter and associated computer program | |
| CN108809192B (en) | Parameter self-tuning permanent magnet synchronous motor control system | |
| CN107834936B (en) | Six-phase electrically excited synchronous motor starting method and device | |
| Przeniosło et al. | Development of microprocessor, time optimized stepper motor driving algorithm | |
| CN111082717A (en) | Stepping motor control method and device | |
| CN113093814A (en) | Method and device for controlling movement of holder | |
| CN114826046A (en) | Control method and device based on stepping motor and electronic equipment | |
| CN115903507A (en) | Inertial navigation modulation axis control method based on LQR regulator | |
| CN202444458U (en) | Motor start control device | |
| CN110784133A (en) | Method and device for determining zero position of motor | |
| CN111058224B (en) | Motor operation control method and system, drum washing machine and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |